Mohd Hairi Mohd Zaman

• Doctor of Philosophy
• Senior Lecturer at National University of Malaysia

The successful execution of path planning algorithms can be substantially impacted by the selection of appropriate planner's parameters. Identifying the optimal parameters suitable for a specific task and environment may require a heuristic process. For an agricultural robotic manipulator operating in a dynamic environment, achieving the optimal ba...

The shortage of human labor is increasing; thus, more agricultural machinery and equipment are expected to enter the agricultural sector. One of the agricultural machinery widely studied nowadays involves robot arms. Therefore, developing robot arms is a hot issue in this field. The ideal structure of the robot arm with optimal length is currently...

The robot arm is a device consisting of a moving chain of links connected by joints. Electrical motors are frequently used to move each robot arm joint. An end-effector that can move freely in space is usually attached to one end of the robot platform, which is fixed. Robot arms can do repetitive operations at rates and precision far exceeding huma...

With advancements in technology, deep learning has become increasingly widespread, particularly in fields like robot control, computer vision, and autonomous driving. In these areas, obtaining pose information of target objects, especially their spatial location, is crucial for robot grasping tasks. Although many effective implementations of six de...

The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote co...

In ultrasound B-mode imaging, the axial resolution (AR) is commonly determined by the duration or bandwidth of an excitation signal. A shorter-duration pulse will produce better resolution compared to a longer one but with compromised penetration depth. Instead of relying on the pulse duration or bandwidth to improve the AR, an alternative method t...

Facial expressions are essential to human communication, which can be divided into micro and macro-expressions. Between these two expressions, facial micro-expression portrays the more authentic emotion even though the reactions are minute and subtle. Hence, micro-expression is hard to detect and recognize since the reactions are short-lived betwee...

This paper proposes a novel robust thyristor-controlled series compensator (TCSC) controller based on proportional integral derivative with filter (PIDF) and uses a new hybrid optimisation evolutionary programming sine cosine algorithm (EPSCA) to improve the power system’s angle stability. The problem of the PIDF-TCSC design is transformed into an...

Precision agriculture is gaining attention as it employs modern technologies and intelligence for automation in agricultural practices. In the area of weed management, automation is advantageous to select the appropriate herbicide and manage the amount used, which consequently reduced the cost and minimizes the environmental impact. Selective spray...

In general, most of the existing convolutional neural network (CNN)-based deep-learning models suffer from spatial-information loss and inadequate feature-representation issues. This is due to their inability to capture multiscale-context information and the exclusion of semantic information throughout the pooling operations. In the early layers of...

Health pandemics such as Covid-19 have drastically shifted the world economics and boosted the development of automation technologies in the industries for continuous operation without human intervention. This paper elaborates on an approach to dynamically track and grasp moving objects using a robot arm. The robot arm has an eye-in-hand (EIH) conf...

As an alternative to delay-and-sum beamforming, a novel beamforming technique called filtered-delay multiply and sum (FDMAS) was introduced recently to improve ultrasound B-mode image quality. Although a considerable amount of work has been performed to evaluate FDMAS performance, no study has yet focused on the beamforming step size, Δx, in the la...

The harvesting job of cutting and collecting fruit bunches in oil palm plantations remains the most labour-intensive job in the oil palm processing cycle. The introduction of an autonomous vehicle to assist workers in the harvesting job promises better productivity. Such a driverless vehicle requires a software module known as simultaneous localisa...

Kinematic synthesis has become an essential issue in robot design, and as a result, much research in recent years has focused on the optimal dimensional synthesis of robot manipulators. However, for particular application area, such as robots in the agriculture field, the robot design is more challenging and need to consider the unstructured struct...

Chronic pain, which includes back pain, headache, and joint pain, affects one out of three people worldwide. The work, social life, and mind of an individual who suffers from this illness can be affected, and the illness severe. A transcutaneous electrical nerve stimulation (TENS) device is typically used to relieve the pain. Existing TENS devices,...

This paper presents an alternative approach to solve an optimal phasor measurement unit (PMU) placement by introducing two new sensitivity indices. The indices are constructed from the information measured from PMUs such as voltage magnitude and angle. These two parameters are essential for power system stability assessment and control. Therefore,...

In recent years, the Ultrasound Group at the University of Leeds has developed an open platform (OP) known as Ultrasound Array Research Platform II (UARPII). The OP serves as a main component for researchers to test and implement new algorithms which is not feasible with the commercially available clinical scanners. In this paper, three types of ex...

This study examined the educational effects in strengthening programming skills among university’s undergraduate engineering students via integration of a robotics project and an experiential learning approach. In this study, a robotics project was conducted to close the gap of students’ difficulty in relating the theoretical concepts of programmin...

Engineering students at an undergraduate level typically learn the design aspect and concept through lectures and practical sessions using computeraided software. However, the current computer-aided design and engineering (CAD/CAE) course did not expose the students to apply and relate the latest advanced technologies to solve global issues, for in...

Robot arm systems are often used worldwide to enhance the quality and productivity of production in the manufacturing industry. Typical applications of robot arm systems include assembly, painting, welding, and pick and place operations. The number of degree-of-freedom (DOF) for most robots in the industry is limited to 6 DOF. An increase in DOF ca...

Augmented reality (AR) is a form of information and communication technology that provides virtual visual information (i.e., images, animation, or video) augmented upon physical reality through computer devices. This study aims to use AR technology on a robot arm system and act as feedback data for this system. The AR technology is applied to an AR...

This study discusses the evaluation of oscillatory stability based on the synchronizing K s and damping K d torque coefficients for a single-machine system connected to an infinite bus (SMIB). Particle swarm optimization (PSO) technique is used to determine K s and K d values and subsequently identify the oscillatory stability conditions in the SMI...

This paper presents the assessment of stability domains for the angle stability condition of the power system using Particle Swarm Optimization (PSO) technique. An efficient optimization method using PSO for synchronizing torque coefficients Ks and damping torque coefficients Kd to identify the angle stability condition on multi-machine system. In...

High demand on voltage regulator (VR) currently requires VR manufacturers to improve their time-to-market, particularly for new product development. To fulfill the output stability requirement, VR manufacturers characterize the VR in terms of the equivalent series resistance (ESR) of the output capacitor because the ESR variation affects the VR out...

Output capacitor in the voltage regulator (VR) circuit ensures stability especially during fast load transients. However, the capacitor parasitic, namely equivalent series resistance (ESR), may cause unstable VR operation. VR characterization in terms of ESR suggests stable range of capacitor ESR based on the ESR tunnel graph in the VR datasheet. S...

Low dropout (LDO) voltage regulator is used to produce regulated, constant and stable input supplies in most electronic systems. Information on the internal circuit of LDO regulator is required for the purpose of fault identification and manufacturing process analysis at the system level. However this information is not provided by the LDO regulato...

A capacitor with a suitable equivalent series resistance (ESR) characteristic is typically connected to the output terminal of a voltage regulator. This ESR must be characterized during the manufacturing process to identify the range of ESR values and to stabilize voltage regulator operation. This ESR range is characterized manually in current manu...

This paper presents the charging process procedure of Li-ion Battery pack for electric vehicle, which is implemented based on constant current and constant voltage (CC-CV) mode. All the informations regarding battery voltage level, state of charge (SOC) during charging and discharging processes, and battery temperature, is displayed on computer via...

Speech intelligibility verification through a listening test session by human raters was conducted to assess the intelligibility of band-limited speech. The band-limited speech was generated using nonlinear frequency compression via spectral envelope transformation to assist individuals with high-frequency hearing loss. However, addressing the issu...

Person with high frequency hearing loss cannot perceive speech containing high frequency component. However, the hearing impaired person still has significant residual hearing at lower frequency region. As such, we propose a method to overcome this by applying the nonlinear frequency compression method to the estimated spectral envelope before tran...

Person with high frequency hearing loss cannot perceive speech containing high frequency component. However, the hearing impaired person still has significant residual hearing at lower frequency region. As such, we propose a method to overcome this by applying the nonlinear frequency compression method to the estimated spectral envelope before tran...

The prism coupler, known from experiments on integrated optics, can be used to determine the refractive index and thickness of a light-guiding thin film. Both parameters are obtained simultaneously and with high accuracy by measuring the coupling angles at the prism and fitting them by a theoretical dispersion curve. In this paper, the fundamentals...

The prism coupler, known from experiments on integrated optics, can be used to determine the refractive index and thickness of a light-guiding thin film. Both parameters are obtained simultaneously and with high accuracy by measuring the coupling angles at the prism and fitting them by a theoretical dispersion curve. In this paper, the fundamentals...